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SearchL with No Sensor

morrowka1969
morrowka1969 ✭
in Robot Controller
Is there a way to use the SearchL command without a sensor.  I would like to monitor servo feedback and use that as the trigger rather than a sensor.

Answers

  • Newman
    Newman ✭
    I've done something similar before. If you have Multitasking you can create a background task that sets a virtual output. Cross connect that output to a virtual input and use the input in your SearchL.
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    David
    Swedish freelance ABB robot programmer
  • morrowka1969
    morrowka1969 ✭
    Hi David,

    Thanks for the response.  What is the feedback coming from that we set the virtual output with?  Is there a servo feedback variable that I can look at?
  • Newman
    Newman ✭
    I thought you had an external servo. If you mean you want to monitor a robot axis you could read the current torque of an axis with function GetMotorTorque().
    -----------------
    David
    Swedish freelance ABB robot programmer
  • morrowka1969
    morrowka1969 ✭
    Perfect!  Thank you for the help!!  I’ll give it a try.

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